| | | 1 | | using System; |
| | | 2 | | using Implementation.Interfaces; |
| | | 3 | | using MathNet.Numerics.LinearAlgebra; |
| | | 4 | | using ReFlex.Core.Calibration.Components; |
| | | 5 | | using ReFlex.Core.Calibration.Util; |
| | | 6 | | using ReFlex.Core.Common.Components; |
| | | 7 | | |
| | | 8 | | namespace Implementation.Components |
| | | 9 | | { |
| | | 10 | | public class CalibrationManager : ICalibrationManager, IDisposable |
| | | 11 | | { |
| | | 12 | | private Calibrator _calibrator; |
| | | 13 | | |
| | 0 | 14 | | private readonly float[,] _unitMat4X4 = { |
| | 0 | 15 | | { 1.0f, 0.0f, 0.0f, 0.0f }, |
| | 0 | 16 | | { 0.0f, 1.0f, 0.0f, 0.0f }, |
| | 0 | 17 | | { 0.0f, 0.0f, 1.0f, 0.0f }, |
| | 0 | 18 | | { 0.0f, 0.0f, 0.0f, 1.0f } |
| | 0 | 19 | | }; |
| | | 20 | | |
| | | 21 | | public event EventHandler<Calibration> CalibrationUpdated; |
| | 0 | 22 | | public Matrix<float> CalibrationMatrix { get; set; } |
| | | 23 | | |
| | 0 | 24 | | public Matrix<float> UnitMatrix4X4 => Matrix<float>.Build.DenseOfArray(_unitMat4X4); |
| | | 25 | | |
| | | 26 | | [Obsolete] |
| | | 27 | | public void Initialize(Calibrator calibratorInstance, string defaultCalibration) |
| | 0 | 28 | | { |
| | 0 | 29 | | CalibrationMatrix = Matrix<float>.Build.DenseOfArray(_unitMat4X4); |
| | 0 | 30 | | _calibrator = calibratorInstance; |
| | 0 | 31 | | LoadCalibration(defaultCalibration); |
| | 0 | 32 | | CalibrationMatrix = _calibrator.CalibrationMatrix; |
| | | 33 | | |
| | 0 | 34 | | _calibrator.CalibrationFinished += OnCalibratrionFinished; |
| | 0 | 35 | | } |
| | | 36 | | |
| | | 37 | | public void Initialize(Calibrator calibratorInstance, Calibration defaultCalibration) |
| | 0 | 38 | | { |
| | 0 | 39 | | CalibrationMatrix = Matrix<float>.Build.DenseOfArray(_unitMat4X4); |
| | 0 | 40 | | _calibrator = calibratorInstance; |
| | 0 | 41 | | _calibrator.Load(defaultCalibration); |
| | 0 | 42 | | CalibrationMatrix = _calibrator.CalibrationMatrix; |
| | | 43 | | |
| | 0 | 44 | | _calibrator.CalibrationFinished += OnCalibratrionFinished; |
| | 0 | 45 | | } |
| | | 46 | | |
| | | 47 | | private void OnCalibratrionFinished(object sender, Matrix<float> e) |
| | 0 | 48 | | { |
| | 0 | 49 | | OnCalibrationUpdated(); |
| | 0 | 50 | | } |
| | | 51 | | |
| | | 52 | | public Interaction Calibrate(Interaction source) |
| | 0 | 53 | | { |
| | 0 | 54 | | if (source == null || CalibrationMatrix == null) |
| | 0 | 55 | | return default(Interaction); |
| | | 56 | | |
| | 0 | 57 | | var p3 = new Point3(); |
| | 0 | 58 | | p3.Set(source.Position); |
| | | 59 | | |
| | 0 | 60 | | var inter = new Interaction(p3,source); |
| | | 61 | | |
| | 0 | 62 | | inter.Position.X = (inter.Position.X * CalibrationMatrix.AsColumnMajorArray()[0] + |
| | 0 | 63 | | inter.Position.Y * CalibrationMatrix.AsColumnMajorArray()[4] + |
| | 0 | 64 | | 1.0f * CalibrationMatrix.AsColumnMajorArray()[8] - _calibrator.StartX) / _calibrator.Wid |
| | | 65 | | |
| | 0 | 66 | | if (inter.Position.X < 0) |
| | 0 | 67 | | inter.Position.X = 0; |
| | | 68 | | |
| | 0 | 69 | | if (inter.Position.X > 1) |
| | 0 | 70 | | inter.Position.X = 1; |
| | | 71 | | |
| | 0 | 72 | | inter.Position.Y = (inter.Position.X * CalibrationMatrix.AsColumnMajorArray()[1] + |
| | 0 | 73 | | inter.Position.Y * CalibrationMatrix.AsColumnMajorArray()[5] + |
| | 0 | 74 | | 1.0f * CalibrationMatrix.AsColumnMajorArray()[9] - _calibrator.StartY) / _calibrator.Hei |
| | | 75 | | |
| | 0 | 76 | | if (inter.Position.Y < 0) |
| | 0 | 77 | | inter.Position.Y = 0; |
| | | 78 | | |
| | 0 | 79 | | if (inter.Position.Y > 1) |
| | 0 | 80 | | inter.Position.Y = 1; |
| | | 81 | | |
| | 0 | 82 | | inter.Position.Z = inter.Position.Z * CalibrationMatrix.AsColumnMajorArray()[10]; |
| | | 83 | | |
| | 0 | 84 | | return inter; |
| | 0 | 85 | | } |
| | | 86 | | |
| | | 87 | | [Obsolete] |
| | | 88 | | public void LoadCalibration(string calib) |
| | 0 | 89 | | { |
| | | 90 | | |
| | 0 | 91 | | if (string.IsNullOrWhiteSpace(calib)) |
| | 0 | 92 | | return; |
| | 0 | 93 | | _calibrator.Load(calib); |
| | | 94 | | |
| | 0 | 95 | | OnCalibrationUpdated(); |
| | 0 | 96 | | } |
| | | 97 | | |
| | | 98 | | public void ResetCalibration() |
| | 0 | 99 | | { |
| | 0 | 100 | | CalibrationMatrix = UnitMatrix4X4; |
| | 0 | 101 | | _calibrator.Reset(); |
| | 0 | 102 | | _calibrator.UpdateSource(); |
| | | 103 | | |
| | 0 | 104 | | OnCalibrationUpdated(); |
| | 0 | 105 | | } |
| | | 106 | | |
| | | 107 | | private void OnCalibrationUpdated() |
| | 0 | 108 | | { |
| | 0 | 109 | | if (_calibrator != null) |
| | 0 | 110 | | CalibrationUpdated?.Invoke(this, _calibrator.CalibrationValues); |
| | 0 | 111 | | } |
| | | 112 | | |
| | | 113 | | public void Dispose() |
| | 0 | 114 | | { |
| | 0 | 115 | | if (_calibrator != null) |
| | 0 | 116 | | _calibrator.CalibrationFinished -= OnCalibratrionFinished; |
| | 0 | 117 | | } |
| | | 118 | | } |
| | | 119 | | } |